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<div class="title">transforms.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
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<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_TRANSFORMS_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_TRANSFORMS_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="centroid_8h.html">pcl/common/centroid.h</a>&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/common/eigen.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/PointIndices.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;{</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <a class="code" href="group__common.html#gaff524851ffbcbefdbef2277134382906">transformPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;                       <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out, </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;                       <span class="keyword">const</span> Eigen::Transform&lt;Scalar, 3, Eigen::Affine&gt; &amp;transform,</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;                       <span class="keywordtype">bool</span> copy_all_fields = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <a class="code" href="group__common.html#gaff524851ffbcbefdbef2277134382906">transformPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;                       <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out, </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;                       <span class="keyword">const</span> Eigen::Affine3f &amp;transform,</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;                       <span class="keywordtype">bool</span> copy_all_fields = <span class="keyword">true</span>)</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  {</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keywordflow">return</span> (transformPointCloud&lt;PointT, float&gt; (cloud_in, cloud_out, transform, copy_all_fields));</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  }</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <a class="code" href="group__common.html#gaff524851ffbcbefdbef2277134382906">transformPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;                       <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;                       <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out, </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;                       <span class="keyword">const</span> Eigen::Transform&lt;Scalar, 3, Eigen::Affine&gt; &amp;transform,</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;                       <span class="keywordtype">bool</span> copy_all_fields = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <a class="code" href="group__common.html#gaff524851ffbcbefdbef2277134382906">transformPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;                       <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;                       <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out, </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;                       <span class="keyword">const</span> Eigen::Affine3f &amp;transform,</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;                       <span class="keywordtype">bool</span> copy_all_fields = <span class="keyword">true</span>)</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  {</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="keywordflow">return</span> (transformPointCloud&lt;PointT, float&gt; (cloud_in, indices, cloud_out, transform, copy_all_fields));</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  }</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="group__common.html#gaa9afb23505913d26d9a1f06242d8eefa">  110</a></span>&#160;  <a class="code" href="group__common.html#gaff524851ffbcbefdbef2277134382906">transformPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;                       <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices, </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;                       <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out, </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;                       <span class="keyword">const</span> Eigen::Transform&lt;Scalar, 3, Eigen::Affine&gt; &amp;transform,</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;                       <span class="keywordtype">bool</span> copy_all_fields = <span class="keyword">true</span>)</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  {</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <span class="keywordflow">return</span> (transformPointCloud&lt;PointT, Scalar&gt; (cloud_in, indices.indices, cloud_out, transform, copy_all_fields));</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  }</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <a class="code" href="group__common.html#gaff524851ffbcbefdbef2277134382906">transformPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;                       <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices, </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;                       <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out, </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;                       <span class="keyword">const</span> Eigen::Affine3f &amp;transform,</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;                       <span class="keywordtype">bool</span> copy_all_fields = <span class="keyword">true</span>)</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="keywordflow">return</span> (transformPointCloud&lt;PointT, float&gt; (cloud_in, indices, cloud_out, transform, copy_all_fields));</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  }</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  <a class="code" href="group__common.html#ga1d67c0cd4ebb26d770c338d93884974a">transformPointCloudWithNormals</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;                                  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out, </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;                                  <span class="keyword">const</span> Eigen::Transform&lt;Scalar, 3, Eigen::Affine&gt; &amp;transform,</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;                                  <span class="keywordtype">bool</span> copy_all_fields = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <a class="code" href="group__common.html#ga1d67c0cd4ebb26d770c338d93884974a">transformPointCloudWithNormals</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;                                  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out, </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;                                  <span class="keyword">const</span> Eigen::Affine3f &amp;transform,</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;                                  <span class="keywordtype">bool</span> copy_all_fields = <span class="keyword">true</span>)</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  {</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <span class="keywordflow">return</span> (transformPointCloudWithNormals&lt;PointT, float&gt; (cloud_in, cloud_out, transform, copy_all_fields));</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  }</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  <a class="code" href="group__common.html#ga1d67c0cd4ebb26d770c338d93884974a">transformPointCloudWithNormals</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;                                  <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;                                  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out, </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;                                  <span class="keyword">const</span> Eigen::Transform&lt;Scalar, 3, Eigen::Affine&gt; &amp;transform,</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;                                  <span class="keywordtype">bool</span> copy_all_fields = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  <a class="code" href="group__common.html#ga1d67c0cd4ebb26d770c338d93884974a">transformPointCloudWithNormals</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;                                  <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;                                  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out, </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;                                  <span class="keyword">const</span> Eigen::Affine3f &amp;transform,</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;                                  <span class="keywordtype">bool</span> copy_all_fields = <span class="keyword">true</span>)</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  {</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    <span class="keywordflow">return</span> (transformPointCloudWithNormals&lt;PointT, float&gt; (cloud_in, indices, cloud_out, transform, copy_all_fields));</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  }</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  <a class="code" href="group__common.html#ga1d67c0cd4ebb26d770c338d93884974a">transformPointCloudWithNormals</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;                                  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices, </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;                                  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out, </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;                                  <span class="keyword">const</span> Eigen::Transform&lt;Scalar, 3, Eigen::Affine&gt; &amp;transform,</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;                                  <span class="keywordtype">bool</span> copy_all_fields = <span class="keyword">true</span>)</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  {</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    <span class="keywordflow">return</span> (transformPointCloudWithNormals&lt;PointT, Scalar&gt; (cloud_in, indices.indices, cloud_out, transform, copy_all_fields));</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  }</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  <a class="code" href="group__common.html#ga1d67c0cd4ebb26d770c338d93884974a">transformPointCloudWithNormals</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;                                  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices, </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;                                  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out, </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;                                  <span class="keyword">const</span> Eigen::Affine3f &amp;transform,</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;                                  <span class="keywordtype">bool</span> copy_all_fields = <span class="keyword">true</span>)</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;  {</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    <span class="keywordflow">return</span> (transformPointCloudWithNormals&lt;PointT, float&gt; (cloud_in, indices, cloud_out, transform, copy_all_fields));</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  }</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00219"></a><span class="lineno"><a class="line" href="group__common.html#gac841d05d13c925f3a3a8090d9d7ff24d">  219</a></span>&#160;  <a class="code" href="group__common.html#gaff524851ffbcbefdbef2277134382906">transformPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;                       <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out, </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;                       <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 4&gt; &amp;transform,</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;                       <span class="keywordtype">bool</span> copy_all_fields = <span class="keyword">true</span>)</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  {</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    Eigen::Transform&lt;Scalar, 3, Eigen::Affine&gt; t (transform);</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    <span class="keywordflow">return</span> (transformPointCloud&lt;PointT, Scalar&gt; (cloud_in, cloud_out, t, copy_all_fields));</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  }</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  <a class="code" href="group__common.html#gaff524851ffbcbefdbef2277134382906">transformPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;                       <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out, </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;                       <span class="keyword">const</span> Eigen::Matrix4f &amp;transform,</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;                       <span class="keywordtype">bool</span> copy_all_fields = <span class="keyword">true</span>)</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  {</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    <span class="keywordflow">return</span> (transformPointCloud&lt;PointT, float&gt; (cloud_in, cloud_out, transform, copy_all_fields));</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  }</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00247"></a><span class="lineno"><a class="line" href="group__common.html#gaf18e63375b760f7030ee1e96a1d10261">  247</a></span>&#160;  <a class="code" href="group__common.html#gaff524851ffbcbefdbef2277134382906">transformPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;                       <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;                       <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out, </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;                       <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 4&gt; &amp;transform,</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;                       <span class="keywordtype">bool</span> copy_all_fields = <span class="keyword">true</span>)</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  {</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    Eigen::Transform&lt;Scalar, 3, Eigen::Affine&gt; t (transform);</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    <span class="keywordflow">return</span> (transformPointCloud&lt;PointT, Scalar&gt; (cloud_in, indices, cloud_out, t, copy_all_fields));</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  }</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  <a class="code" href="group__common.html#gaff524851ffbcbefdbef2277134382906">transformPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;                       <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;                       <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out, </div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;                       <span class="keyword">const</span> Eigen::Matrix4f &amp;transform,</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;                       <span class="keywordtype">bool</span> copy_all_fields = <span class="keyword">true</span>)</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;  {</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;    <span class="keywordflow">return</span> (transformPointCloud&lt;PointT, float&gt; (cloud_in, indices, cloud_out, transform, copy_all_fields));</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  }</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00277"></a><span class="lineno"><a class="line" href="group__common.html#ga033e051c786ec84f52598ab711a74a4e">  277</a></span>&#160;  <a class="code" href="group__common.html#gaff524851ffbcbefdbef2277134382906">transformPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;                       <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices, </div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;                       <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out, </div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;                       <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 4&gt; &amp;transform,</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;                       <span class="keywordtype">bool</span> copy_all_fields = <span class="keyword">true</span>)</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  {</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    <span class="keywordflow">return</span> (transformPointCloud&lt;PointT, Scalar&gt; (cloud_in, indices.indices, cloud_out, transform, copy_all_fields));</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  }</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160; </div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  <a class="code" href="group__common.html#gaff524851ffbcbefdbef2277134382906">transformPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;                       <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices, </div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;                       <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out, </div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;                       <span class="keyword">const</span> Eigen::Matrix4f &amp;transform,</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;                       <span class="keywordtype">bool</span> copy_all_fields = <span class="keyword">true</span>)</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;  {</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    <span class="keywordflow">return</span> (transformPointCloud&lt;PointT, float&gt; (cloud_in, indices, cloud_out, transform, copy_all_fields));</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;  }</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160; </div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00307"></a><span class="lineno"><a class="line" href="group__common.html#ga01dcf9e24dec3109a0c8a8b8f2e24bcc">  307</a></span>&#160;  <a class="code" href="group__common.html#ga1d67c0cd4ebb26d770c338d93884974a">transformPointCloudWithNormals</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;                                  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out, </div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;                                  <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 4&gt; &amp;transform,</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;                                  <span class="keywordtype">bool</span> copy_all_fields = <span class="keyword">true</span>)</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;  {</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    Eigen::Transform&lt;Scalar, 3, Eigen::Affine&gt; t (transform);</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    <span class="keywordflow">return</span> (transformPointCloudWithNormals&lt;PointT, Scalar&gt; (cloud_in, cloud_out, t, copy_all_fields));</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;  }</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160; </div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160; </div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;  <a class="code" href="group__common.html#ga1d67c0cd4ebb26d770c338d93884974a">transformPointCloudWithNormals</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;                                  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out, </div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;                                  <span class="keyword">const</span> Eigen::Matrix4f &amp;transform,</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;                                  <span class="keywordtype">bool</span> copy_all_fields = <span class="keyword">true</span>)</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;  {</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    <span class="keywordflow">return</span> (transformPointCloudWithNormals&lt;PointT, float&gt; (cloud_in, cloud_out, transform, copy_all_fields));</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;  }</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160; </div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00338"></a><span class="lineno"><a class="line" href="group__common.html#gae4ec94bbea2388f1399bccc96d3724ee">  338</a></span>&#160;  <a class="code" href="group__common.html#ga1d67c0cd4ebb26d770c338d93884974a">transformPointCloudWithNormals</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;                                  <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, </div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;                                  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out, </div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;                                  <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 4&gt; &amp;transform,</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;                                  <span class="keywordtype">bool</span> copy_all_fields = <span class="keyword">true</span>)</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;  {</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;    Eigen::Transform&lt;Scalar, 3, Eigen::Affine&gt; t (transform);</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    <span class="keywordflow">return</span> (transformPointCloudWithNormals&lt;PointT, Scalar&gt; (cloud_in, indices, cloud_out, t, copy_all_fields));</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;  }</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160; </div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160; </div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;  <a class="code" href="group__common.html#ga1d67c0cd4ebb26d770c338d93884974a">transformPointCloudWithNormals</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;                                  <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, </div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;                                  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out, </div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;                                  <span class="keyword">const</span> Eigen::Matrix4f &amp;transform,</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;                                  <span class="keywordtype">bool</span> copy_all_fields = <span class="keyword">true</span>)</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;  {</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;    <span class="keywordflow">return</span> (transformPointCloudWithNormals&lt;PointT, float&gt; (cloud_in, indices, cloud_out, transform, copy_all_fields));</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;  }</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160; </div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00371"></a><span class="lineno"><a class="line" href="group__common.html#ga3a78021ef33dad9e3d44e6275768760b">  371</a></span>&#160;  <a class="code" href="group__common.html#ga1d67c0cd4ebb26d770c338d93884974a">transformPointCloudWithNormals</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;                                  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices, </div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;                                  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out, </div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;                                  <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 4&gt; &amp;transform,</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;                                  <span class="keywordtype">bool</span> copy_all_fields = <span class="keyword">true</span>)</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;  {</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;    Eigen::Transform&lt;Scalar, 3, Eigen::Affine&gt; t (transform);</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;    <span class="keywordflow">return</span> (transformPointCloudWithNormals&lt;PointT, Scalar&gt; (cloud_in, indices, cloud_out, t, copy_all_fields));</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;  }</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160; </div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160; </div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;  <a class="code" href="group__common.html#ga1d67c0cd4ebb26d770c338d93884974a">transformPointCloudWithNormals</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;                                  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices, </div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;                                  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out, </div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;                                  <span class="keyword">const</span> Eigen::Matrix4f &amp;transform,</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;                                  <span class="keywordtype">bool</span> copy_all_fields = <span class="keyword">true</span>)</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;  {</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;    <span class="keywordflow">return</span> (transformPointCloudWithNormals&lt;PointT, float&gt; (cloud_in, indices, cloud_out, transform, copy_all_fields));</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;  }</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160; </div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;  <a class="code" href="group__common.html#gaff524851ffbcbefdbef2277134382906">transformPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;                       <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out, </div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;                       <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 3, 1&gt; &amp;offset, </div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;                       <span class="keyword">const</span> Eigen::Quaternion&lt;Scalar&gt; &amp;rotation,</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;                       <span class="keywordtype">bool</span> copy_all_fields = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160; </div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;  <a class="code" href="group__common.html#gaff524851ffbcbefdbef2277134382906">transformPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;                       <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out, </div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;                       <span class="keyword">const</span> Eigen::Vector3f &amp;offset, </div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;                       <span class="keyword">const</span> Eigen::Quaternionf &amp;rotation,</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;                       <span class="keywordtype">bool</span> copy_all_fields = <span class="keyword">true</span>)</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;  {</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;    <span class="keywordflow">return</span> (transformPointCloud&lt;PointT, float&gt; (cloud_in, cloud_out, offset, rotation, copy_all_fields));</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;  }</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160; </div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;  <a class="code" href="group__common.html#ga1d67c0cd4ebb26d770c338d93884974a">transformPointCloudWithNormals</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;                                  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out, </div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;                                  <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 3, 1&gt; &amp;offset, </div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;                                  <span class="keyword">const</span> Eigen::Quaternion&lt;Scalar&gt; &amp;rotation,</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;                                  <span class="keywordtype">bool</span> copy_all_fields = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160; </div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;  <a class="code" href="group__common.html#ga1d67c0cd4ebb26d770c338d93884974a">transformPointCloudWithNormals</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in, </div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;                                  <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out, </div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;                                  <span class="keyword">const</span> Eigen::Vector3f &amp;offset, </div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;                                  <span class="keyword">const</span> Eigen::Quaternionf &amp;rotation,</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;                                  <span class="keywordtype">bool</span> copy_all_fields = <span class="keyword">true</span>)</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;  {</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;    <span class="keywordflow">return</span> (transformPointCloudWithNormals&lt;PointT, float&gt; (cloud_in, cloud_out, offset, rotation, copy_all_fields));</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;  }</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160; </div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a></div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;  <a class="code" href="group__common.html#ga1bd2c5ea1258af3a45483dd1341aa429">transformPoint</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point, </div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;                  <span class="keyword">const</span> Eigen::Transform&lt;Scalar, 3, Eigen::Affine&gt; &amp;transform);</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;  </div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a></div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;  <a class="code" href="group__common.html#ga1bd2c5ea1258af3a45483dd1341aa429">transformPoint</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point, </div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;                  <span class="keyword">const</span> Eigen::Affine3f &amp;transform)</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;  {</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;    <span class="keywordflow">return</span> (transformPoint&lt;PointT, float&gt; (point, transform));</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;  }</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160; </div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a></div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;  <a class="code" href="group__common.html#ga6eddef43d5bd5211fcbd774c87962314">transformPointWithNormal</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point, </div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;                  <span class="keyword">const</span> Eigen::Transform&lt;Scalar, 3, Eigen::Affine&gt; &amp;transform);</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;  </div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a></div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;  <a class="code" href="group__common.html#ga6eddef43d5bd5211fcbd774c87962314">transformPointWithNormal</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point, </div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;                  <span class="keyword">const</span> Eigen::Affine3f &amp;transform)</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;  {</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;    <span class="keywordflow">return</span> (transformPointWithNormal&lt;PointT, float&gt; (point, transform));</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;  }</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160; </div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;  getPrincipalTransformation (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, </div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;                              Eigen::Transform&lt;Scalar, 3, Eigen::Affine&gt; &amp;transform);</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160; </div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;  getPrincipalTransformation (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, </div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;                              Eigen::Affine3f &amp;transform)</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;  {</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;    <span class="keywordflow">return</span> (getPrincipalTransformation&lt;PointT, float&gt; (cloud, transform));</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;  }</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;}</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160; </div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;<span class="preprocessor">#include &lt;pcl/common/impl/transforms.hpp&gt;</span></div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160; </div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_TRANSFORMS_H_</span></div>
<div class="ttc" id="acentroid_8h_html"><div class="ttname"><a href="centroid_8h.html">centroid.h</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="agroup__common_html_ga1bd2c5ea1258af3a45483dd1341aa429"><div class="ttname"><a href="group__common.html#ga1bd2c5ea1258af3a45483dd1341aa429">pcl::transformPoint</a></div><div class="ttdeci">PointT transformPoint(const PointT &amp;point, const Eigen::Transform&lt; Scalar, 3, Eigen::Affine &gt; &amp;transform)</div><div class="ttdoc">Transform a point with members x,y,z</div><div class="ttdef"><b>Definition:</b> transforms.hpp:315</div></div>
<div class="ttc" id="agroup__common_html_ga1d67c0cd4ebb26d770c338d93884974a"><div class="ttname"><a href="group__common.html#ga1d67c0cd4ebb26d770c338d93884974a">pcl::transformPointCloudWithNormals</a></div><div class="ttdeci">void transformPointCloudWithNormals(const pcl::PointCloud&lt; PointT &gt; &amp;cloud_in, pcl::PointCloud&lt; PointT &gt; &amp;cloud_out, const Eigen::Matrix&lt; Scalar, 3, 1 &gt; &amp;offset, const Eigen::Quaternion&lt; Scalar &gt; &amp;rotation, bool copy_all_fields=true)</div><div class="ttdoc">Transform a point cloud and rotate its normals using an Eigen transform.</div><div class="ttdef"><b>Definition:</b> transforms.hpp:301</div></div>
<div class="ttc" id="agroup__common_html_ga6eddef43d5bd5211fcbd774c87962314"><div class="ttname"><a href="group__common.html#ga6eddef43d5bd5211fcbd774c87962314">pcl::transformPointWithNormal</a></div><div class="ttdeci">PointT transformPointWithNormal(const PointT &amp;point, const Eigen::Transform&lt; Scalar, 3, Eigen::Affine &gt; &amp;transform)</div><div class="ttdoc">Transform a point with members x,y,z,normal_x,normal_y,normal_z</div><div class="ttdef"><b>Definition:</b> transforms.hpp:326</div></div>
<div class="ttc" id="agroup__common_html_gaff524851ffbcbefdbef2277134382906"><div class="ttname"><a href="group__common.html#gaff524851ffbcbefdbef2277134382906">pcl::transformPointCloud</a></div><div class="ttdeci">void transformPointCloud(const pcl::PointCloud&lt; PointT &gt; &amp;cloud_in, pcl::PointCloud&lt; PointT &gt; &amp;cloud_out, const Eigen::Matrix&lt; Scalar, 3, 1 &gt; &amp;offset, const Eigen::Quaternion&lt; Scalar &gt; &amp;rotation, bool copy_all_fields=true)</div><div class="ttdoc">Apply a rigid transform defined by a 3D offset and a quaternion</div><div class="ttdef"><b>Definition:</b> transforms.hpp:287</div></div>
<div class="ttc" id="astructpcl_1_1_point_indices_html"><div class="ttname"><a href="structpcl_1_1_point_indices.html">pcl::PointIndices</a></div><div class="ttdef"><b>Definition:</b> PointIndices.h:13</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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